transform_datatypes.h File Reference

#include <string>
#include "geometry_msgs/PointStamped.h"
#include "geometry_msgs/Vector3Stamped.h"
#include "geometry_msgs/QuaternionStamped.h"
#include "geometry_msgs/TransformStamped.h"
#include "geometry_msgs/PoseStamped.h"
#include "LinearMath/btTransform.h"
#include "ros/time.h"
#include "ros/console.h"

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Classes
class	tf::Stamped< T >
	The data type which will be cross compatable with geometry_msgs This is the tf datatype equivilant of a MessageStamped. More...
class	tf::StampedTransform
	The Stamped Transform datatype used by tf. More...
Namespaces
namespace	tf
Typedefs
typedef btVector3	tf::Point
	The transform library representation of a point(Position).
typedef btTransform	tf::Pose
	A representation of pose (A position and orientation).
typedef btQuaternion	tf::Quaternion
	A representaton of orientation or rotation depending on context.
typedef btTransform	tf::Transform
	A representation of a translation and rotation.
typedef btVector3	tf::Vector3
	A representation of a translation.
Functions
static tf::Quaternion	tf::createIdentityQuaternion ()
	construct an Identity Quaternion
static tf::Quaternion	tf::createQuaternionFromRPY (double roll, double pitch, double yaw)
	construct a Quaternion from Fixed angles
static Quaternion	tf::createQuaternionFromYaw (double yaw)
	construct a Quaternion from yaw only
static geometry_msgs::Quaternion	tf::createQuaternionMsgFromRollPitchYaw (double roll, double pitch, double yaw)
	construct a Quaternion Message from Fixed angles
static geometry_msgs::Quaternion	tf::createQuaternionMsgFromYaw (double yaw)
	construct a Quaternion Message from yaw only
static double	tf::getYaw (const Quaternion &bt_q)
	Helper function for getting yaw from a Quaternion.
static bool	tf::operator== (const StampedTransform &a, const StampedTransform &b)
	Comparison operator for StampedTransform.
template<typename T >
bool	tf::operator== (const Stamped< T > &a, const Stamped< T > &b)
	Comparison Operator for Stamped datatypes.
static void	tf::pointMsgToTF (const geometry_msgs::Point &msg_v, Point &bt_v)
	convert Point msg to Point
static void	tf::pointStampedMsgToTF (const geometry_msgs::PointStamped &msg, Stamped< Point > &bt)
	convert PointStamped msg to Stamped<Point>
static void	tf::pointStampedTFToMsg (const Stamped< Point > &bt, geometry_msgs::PointStamped &msg)
	convert Stamped<Point> to PointStamped msg
static void	tf::pointTFToMsg (const Point &bt_v, geometry_msgs::Point &msg_v)
	convert Point to Point msg
static void	tf::poseMsgToTF (const geometry_msgs::Pose &msg, Pose &bt)
	convert Pose msg to Pose
static void	tf::poseStampedMsgToTF (const geometry_msgs::PoseStamped &msg, Stamped< Pose > &bt)
	convert PoseStamped msg to Stamped<Pose>
static void	tf::poseStampedTFToMsg (const Stamped< Pose > &bt, geometry_msgs::PoseStamped &msg)
	convert Stamped<Pose> to PoseStamped msg
static void	tf::poseTFToMsg (const Pose &bt, geometry_msgs::Pose &msg)
	convert Pose to Pose msg
static void	tf::quaternionMsgToTF (const geometry_msgs::Quaternion &msg, Quaternion &bt)
	convert Quaternion msg to Quaternion
static void	tf::quaternionStampedMsgToTF (const geometry_msgs::QuaternionStamped &msg, Stamped< Quaternion > &bt)
	convert QuaternionStamped msg to Stamped<Quaternion>
static void	tf::quaternionStampedTFToMsg (const Stamped< Quaternion > &bt, geometry_msgs::QuaternionStamped &msg)
	convert Stamped<Quaternion> to QuaternionStamped msg
static void	tf::quaternionTFToMsg (const Quaternion &bt, geometry_msgs::Quaternion &msg)
	convert Quaternion to Quaternion msg
static void	tf::transformMsgToTF (const geometry_msgs::Transform &msg, Transform &bt)
	convert Transform msg to Transform
static void	tf::transformStampedMsgToTF (const geometry_msgs::TransformStamped &msg, StampedTransform &bt)
	convert TransformStamped msg to tf::StampedTransform
static void	tf::transformStampedTFToMsg (const StampedTransform &bt, geometry_msgs::TransformStamped &msg)
	convert tf::StampedTransform to TransformStamped msg
static void	tf::transformTFToMsg (const Transform &bt, geometry_msgs::Transform &msg)
	convert Transform to Transform msg
static void	tf::vector3MsgToTF (const geometry_msgs::Vector3 &msg_v, Vector3 &bt_v)
	convert Vector3 msg to Vector3
static void	tf::vector3StampedMsgToTF (const geometry_msgs::Vector3Stamped &msg, Stamped< Vector3 > &bt)
	convert Vector3Stamped msg to Stamped<Vector3>
static void	tf::vector3StampedTFToMsg (const Stamped< Vector3 > &bt, geometry_msgs::Vector3Stamped &msg)
	convert Stamped<Vector3> to Vector3Stamped msg
static void	tf::vector3TFToMsg (const Vector3 &bt_v, geometry_msgs::Vector3 &msg_v)
	convert Vector3 to Vector3 msg
Variables
static const double	tf::QUATERNION_TOLERANCE = 0.1f